EncoderKalmanFilter Class Reference

Standard 1D Kalman filter for smoothing raw motor encoder values. More...

#include <encoder_filter.h>

Public Member Functions
	EncoderKalmanFilter (float process_noise=0.077f, float measurement_noise=7.2f)
	Construct an Encoder Kalman Filter.
float	update (float measured_position, float dt)
	Updates the filter with a new measurement.

Detailed Description

Standard 1D Kalman filter for smoothing raw motor encoder values.

Definition at line 9 of file encoder_filter.h.

Constructor & Destructor Documentation

EncoderKalmanFilter()

EncoderKalmanFilter::EncoderKalmanFilter	(	float	process_noise = 0.077f,
		float	measurement_noise = 7.2f
	)

Construct an Encoder Kalman Filter.

Parameters

process_noise	Estimated variability of the process.
measurement_noise	Noise characteristics of the encoder.

Member Function Documentation

update()

float EncoderKalmanFilter::update	(	float	measured_position,
		float	dt
	)

Updates the filter with a new measurement.

Parameters

measured_position	The raw encoder position.
dt	Time elapsed since last update.

Returns

float The filtered/smoothed position.